SDK03M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current Power dissipation Channel temperature Storage temperature Symbol V CC VDSS VS V IN VREF IO PD Tch Tstg Ratings 46 100 46 7 2 1 2.5 (Without Heatsink) +150 −40 to +150 Units V V V V V A W °C °C ■Electrical Characteristics Parameter Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage DC characteristics FET drain leakage current FET diode forward voltage TTL input current TTL input voltage (Active High) AC characteristics TTL input voltage (Active Low) 36 Switching time SDK03M Symbol min IS Condition VS VDSS Condition VDS Condition IDSS Condition VSD Condition IIH Condition IIL Condition VIH Condition VIL Condition VIH Condition VIL Condition Tr Condition Tstg Condition Tf Condition 10 100 Ratings typ 5 VS =44V 24 max 7.5 44 Units mA V V VS =44V, IDSS=250µ A 0.85 ID=1A, V S=14V 4 VDSS=100V, VS=44V 1.2 ID=1A 40 V IH=2.4V, VS=44V −0.8 VIL=0.4V, VS=44V V mA V µA mA 2 ID=1A 0.8 V V DSS=100V 2 V DSS=100V 0.8 ID=1A 0.5 V S=24V, ID=0.8A 0.7 V S=24V, ID=0.8A 0.1 V S=24V, ID=0.8A V µs 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■Internal Block Diagram 8 9 1 6 IN1 16 5 IN2 7 VS 1, 8, 9, 16pin Description of pins Excitation input Active H Active L Reg. 14 NC Pin 1 Pin 16 OUT1 OUT2 11 NC Pin 8 Pin 9 OUT2 OUT1 + – RS 15 RS 10 RS 13 GND 4 + – GND 12 TD 2 REF 3 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Active High Excitation signal time chart 2-phase excitation VCC (46V max) + Motor coil Phase A 1 Active High 6 IN1 Motor coil Phase B Vb (5V) 9 7 OUT1 OUT2 IN1 16 8 VS 7 r 3 r1 r 4 SDK03M 5 IN2 12 RS TD 13 4 2 2 REF 3 3 IN2 GND RS 13 15 10 10 r5 C3 RS r2 C1 Active Low r6 5 1 Active Low IN1 IN2 5 9 7 OUT2 OUT1 IN1 16 8 VS Motor coil Phase B 16 8 SDK03M Phase B RS TD 2 2 TD REF 13 REF 3 3 10 15 10 C3 RS r5 r2 C1 r6 C2 IN2 GND RS 13 C4 RS 0 H L H L 1 L H H L 0 H L L L 1 H L H L 2 L L H L 3 L H H L 4 L H L L 5 L H L H 6 L L L H 7 H L L H 0 H L L L 1 H L H L 2 L L H L Excitation signal time chart 2-phase excitation Phase clock 0 1 2 3 0 IN 1 L H H L L Phase A IN 2 H L L H H IN 1 L L H H L Phase B H H L L H IN 2 5 IN1 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1.8Ω typ r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1.8Ω typ 3 L H H L 1 H L L H Active Low IN2 (1 to 2W) 1-2-phase excitation 12 r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS : (1 to 2W) 9 OUT2 OUT1 6 IN1 Phase A 15 4 1 VS SDK03M IN2 GND 12 7 r 3 r1 r 4 3 H L L H IN2 Phase clock IN 1 IN 2 IN 1 Phase B IN 2 RS Vb (5V) 2 L H L H Active High Phase A + Motor coil Phase A 1 L H H L 1-2-phase excitation 4 VCC (46V max) 6 IN1 12 C4 C2 0 H L H L 9 Phase B TD REF 15 16 8 OUT1 OUT2 6 IN1 SDK03M Phase A IN2 GND 1 VS Phase clock IN 1 IN 2 IN 1 Phase B IN 2 Phase A 4 Phase clock IN 1 IN 2 IN 1 Phase B IN 2 Phase A 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H 3 H L L H SDK03M 37 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■External Dimensions (Unit: mm) 0.89±0.15 2.54±0.25 +0.15 0.75 –0.05 9 16 6.8max. Part No. Lot No. 1 8.0±0.5 19.56±0.2 0~0.1 3.0±0.2 9.8±0.3 38 SDK03M 4.0max. 3.6 ±0.2 1.4 ±0.2 0.25 0.3 –0.05 +0.15 6.3±0.2 1.0±0.3 20.0max. 8 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M Application Notes ■Determining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Phase A 0 Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage Phase A RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) Vb r2 ................................................................ (1) IO ≅ • r1+r2 RS Fig. 2 Normal mode Vb(5V) (2) Power down mode r6 r1 r5 The circuit in Fig.3 (rx and Tr ) is added in order to decrease the 3 coil current. IO is then determined as follows. 1 IOPD ≅ r1(r 2+rX) 1+ • r2 Vb ......................................................... (2) RS C3 10 13 15 r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 1 Vb −1 − r1 R s • IOPD r2 Fig. 3 Power down mode Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respec- r6 tively. r1 r5 rX 3 r2 10 13 15 C3 Power down signal Tr RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 2.0 3 r2 · Vb r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 0 1 2 3 4 Current sense resistor RS (Ω) (NOTE) Ringing noise is produced in the current sense resistor RS when Output current IOPD (A) Output current IO (A) 4 RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) However, when the values of these constants are increased, the MOSFET is switched ON and OFF by chopping. This noise the response from RS to the comparator becomes slow. Hence is also generated in feedback signals from RS which may therefore cause the comparator to malfunction. To prevent chopping the value of the output current IO is somewhat higher than the calculated value. malfunctions, r 5(r 6) and C3(C4) are added to act as a noise filter. SDK03M 39 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Determining the chopper frequency SDK03M Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF SDK03M is self-excited choppers. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal Td. 60 2 Vb =−r4 • C2 rn (1− 2 Vb ) The circuit constants and the T OFF value shown below are recommended. T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V ON time TON (µ s) TOFF≅−r3 • C1rn (1− 50 40 20 30 VC 20 C =2 4V 25 V VCC =36 30 35 40 10 0 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) 50 50 40 40 30 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω 20 10 0 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 0 10 20 30 VCC (V) 40 2 SDK03M 40 50 r3 = r4 = 47kΩ 500pF C1 C2 TOFF =12µs RS =1Ω Lm =1~3ms Rm ■Chopper frequency vs. Output current f (kHz) f (kHz) ■Chopper frequency vs. Supply voltage 0 Chopping frequency f (kHz) 15 T OFF can be calculated using the following formula: 0 0 0.2 0.4 0.6 IO (A) 0.8 1.0 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for computing heat dissipation is shown below. 2-phase excitation: Pdiss ≅ PH+0.0075×VS (W) 3 P H+0.0075×VS (W) 1-2 phase excitation: Pdiss ≅ 4 (3) Obtain the temperature rise that corresponds to the calcu- (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." lated value of Pdiss from Fig. 8 "Temperature rise." Fig. 7 Heat dissipation per phase PH vs. Output current IO Fig. 8 Temperature rise 150 Heat dissipation per phase PH (W) 1.2 1 4V C =4 100 V 36 0.6 Motor : 23LM-C202 Holding mode V 24 V 15 Glass epoxy board (mounted on level surface) (95×69×1.2mm) Natural cooling ∆T j VC ∆Tj–a (°C) ∆TC–a 0.8 C ∆T 50 0.4 0.2 0 0 0.2 0.4 0.6 0.8 0 0 1.0 1 2 Total power (W) Output current IO (A) 3 Thermal characteristics Case temperature rise ∆TC–a (°C) 50 40 TC ( 9 pin) 30 Natural cooling Glass epoxy board (mounted on level surface) (95×69×1.2mm) Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 20 10 0 200 1K 500 Response frequency (pps) ■Supply Voltage VCC vs. Supply Current I CC ■Torque Characteristics 2.0 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Pull-out torque (kg-cm) Supply current ICC (mA) 500 1.5 Motor : PX244-02 Output current IO =0.6A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 0.4A 0.2A 0 10 20 30 40 50 0 100 Supply voltage VCC (V) 500 1K 5K Response frequency (pps) ■Note The excitation input signals of the SDK03M can be used as either Active High or Active Low. Note, However, that the corresponding output (OUT) changes depending on the input (IN). Active High Active Low Input Corresponding output Input Corresponding output IN1 (pin6) OUT1 (pin1, 16) IN1 (pin6) OUT1 (pin8, 9) IN2 (pin5) OUT2 (pin8, 9) IN2 (pin5) OUT2 (pin1, 16) SDK03M 41